Investigation of positioning accuracy of industrial robots for robotic-based X-ray computed tomography

Landstorfer, Peter; Hiller, Jochen; Herbst, Matthias

doi:10.58286/23695

Cited by 5 publications

(2 citation statements)

References 9 publications

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“…Landstorfer et al [43] investigated the positioning accuracy of industrial robots for robotics-based X-ray computed tomography. Only one robotic manipulator was tested, the Kuka KR 15-2 robotic arm.…”

Section: Robot Calibrationmentioning

confidence: 99%

Design of a Computed Tomography Automation Architecture

et al. 2021

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This paper presents a literature review on techniques related to the computed tomography procedure that incorporate automation elements in their research investigations or industrial applications. Computed tomography (CT) is a non-destructive testing (NDT) technique in that the imaging and inspection are performed without damaging the sample, allowing for additional or repeated analysis if necessary. The reviewed literature is organized based on the steps associated with a general NDT task in order to define an end-to-end computed tomography automation architecture. The process steps include activities prior to image collection, during the scan, and after the data are collected. It further reviews efforts related to repeating this process based on a previous scan result. By analyzing the multiple existing but disparate efforts found in the literature, we present a framework for fully automating NDT procedures and discuss the remaining technical gaps in the developed framework.

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Section: Robot Calibrationmentioning

confidence: 99%

Design of a Computed Tomography Automation Architecture

et al. 2021

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“…Accuracy is not always paramount when using a robot, meaning that if the robot is programmed manually, where the worker teaches the robot all the points to reach, accuracy does not play a major role. However, the positioning accuracy of the robot is particularly important when it is used in a market where it has to be programmed according to a CAD model, as the endpoint has to be reached in precisely defined positions [9].…”

Section: Introductionmentioning

confidence: 99%

Simulation Design and Measurement of Welding Robot Repeatability Utilizing the Contact Measurement Method

Pollák,

Goryl

2023

Machines

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ISO 9283 is a significant guiding standard for assessing the performance characteristics of robots. The main objective of the present paper was to verify the repeatability of the Panasonic TM-2000 welding robot at a manufacturing company. The paper describes the workflow of the robot control program in the simulation software RoboDK, which created a complete welding station. The measurement, as well as the simulation, were possible thanks to designing the measuring device, the imaginary ISO cube, the measuring plane, the measuring points, and last but not least, the cycle that determined in which order the points were measured. The analytical part of the paper resulted in a direct measurement of the position repeatability of the welding robot. A total of five points were measured for the X-axis and five points for the Y-axis. Each point was recorded 30 times, with measurements taken in the positive direction of motion. The results were compared with the value given by the manufacturer, and the measured deviations were presented graphically.

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Practical Part-Specific Trajectory Optimization for Robot-Guided Inspection via Computed Tomography

et al. 2022

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Robot-guided computed tomography enables the inspection of parts that are too large for conventional systems and allows, for instance, the non-destructive and volumetric evaluation of mechanical joining components within already assembled cars in the automotive industry. However, the typical scan time required by such setups is still significant and represents a major barrier for its industrial large-scale application. As an approach to mitigate the necessary time demand, we propose a part-specific adjustment of the acquisition trajectory. Common circular standard trajectories are inherently inefficient, since they are applied independently of the considered inspection task, while the use of acquisition orbits tailored particularly to the investigated object effectively allows a reduction of the required number of projections, which in turn has the potential to directly decrease the scan time significantly. In contrast to former simulation-guided approaches, this work is considered to be the first successful task-specific trajectory optimization being performed on a robot-based industrial CT platform and aims towards providing a first proof of concept that such methods can be practically applied in a shop floor environment. Based on representative results, a reduction of the number of required projections by approx. 55 % or an image quality improvement according to the root-mean squared error by approx. 40 % compared to the conventionally applied planar acquisition trajectory was achieved.

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Investigation of positioning accuracy of industrial robots for robotic-based X-ray computed tomography

Cited by 5 publications

References 9 publications

Design of a Computed Tomography Automation Architecture

Design of a Computed Tomography Automation Architecture

Simulation Design and Measurement of Welding Robot Repeatability Utilizing the Contact Measurement Method

Practical Part-Specific Trajectory Optimization for Robot-Guided Inspection via Computed Tomography

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